This paper presents a method for interactively generating a 3D class A Bézier curve segment by specifying two endpoints and their tangents. We clarify geometric properties of 3D class A Bézier curves and use them for efficiently generating 3D class A Bézier curve segments satisfying the specified positional and tangential constraints. The characteristics of typical 3D class A Bézier curves are also clarified. 164 segments [14] can be interactive controlled with user-specified endpoint constraints. However, the curve is not compatible with free-form curves, such as Bézier curves or NURBS curves.